/*
 * Software License Agreement (BSD License)
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 * Copyright (c) 2017, Poznan University of Technology
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Poznan University of Technology nor the names
 *       of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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/*
 * Author: Mateusz Przybyla
 */

#include "obstacle_detector/obstacle_publisher.h"

using namespace obstacle_detector;

int main(int argc, char** argv) {
  ros::init(argc, argv, "obstacle_publisher", ros::init_options::NoRosout);
  ros::NodeHandle nh("");
  ros::NodeHandle nh_local("~");

  try {
    ROS_INFO("[Obstacle Publisher]: Initializing node");
    ObstaclePublisher op(nh, nh_local);
    ros::spin();
  }
  catch (const char* s) {
    ROS_FATAL_STREAM("[Obstacle Publisher]: " << s);
  }
  catch (...) {
    ROS_FATAL_STREAM("[Obstacle Publisher]: Unexpected error");
  }

  return 0;
}
